{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/robust-360-8pa-redesigning-the-normalized-8","title":"Robust 360-8PA: Redesigning The Normalized 8-point Algorithm for 360-FoV Images","arxiv_id":"2104.10900","date":"2021-04-22","proceeding":null,"authors":["Bolivar Solarte","Chin-Hsuan Wu","Kuan-Wei Lu","Min Sun","Wei-Chen Chiu","Yi-Hsuan Tsai"],"abstract":"This paper presents a novel preconditioning strategy for the classic 8-point algorithm (8-PA) for estimating an essential matrix from 360-FoV images (i.e., equirectangular images) in spherical projection. To alleviate the effect of uneven key-feature distributions and outlier correspondences, which can potentially decrease the accuracy of an essential matrix, our method optimizes a non-rigid transformation to deform a spherical camera into a new spatial domain, defining a new constraint and a more robust and accurate solution for an essential matrix. Through several experiments using random synthetic points, 360-FoV, and fish-eye images, we demonstrate that our normalization can increase the camera pose accuracy by about 20% without significantly overhead the computation time. In addition, we present further benefits of our method through both a constant weighted least-square optimization that improves further the well known Gold Standard Method (GSM) (i.e., the non-linear optimization by using epipolar errors); and a relaxation of the number of RANSAC iterations, both showing that our normalization outcomes a more reliable, robust, and accurate solution.","url_abs":"https://arxiv.org/abs/2104.10900v1","url_pdf":"https://arxiv.org/pdf/2104.10900v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"robust-360-8pa-redesigning-the-normalized-8","repo_url":"https://github.com/EnriqueSolarte/robust_360_8PA","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2104.10900","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}